Service providing system and non-transitory computer readable medium

ABSTRACT

A self-moving apparatus that provides a service by moving to a destination and includes a detection unit and a reporting unit. A reception unit receives a user instruction for causing the self-moving apparatus to move to a predetermined destination if the self-moving apparatus is in a predetermined state relating to maintenance or printing or if the self-moving apparatus is changed to be in the predetermined state. A detection unit detects a state of the self-moving apparatus. A moving unit that moves to the predetermined destination if the self-moving apparatus is in the predetermined state or if the self-moving apparatus is changed to be in the predetermined state on the basis of a detection result obtained by the detection unit.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. patentapplication Ser. No. 15/438,943, filed Feb. 22, 2017, which is based onand claims priority under 35 USC 119 from Japanese Patent ApplicationNo. 2016-175160 filed Sep. 8, 2016. The disclosures of each of the aboveare hereby incorporated by reference in their entireties.

BACKGROUND (i) Technical Field

The present invention relates to a service providing system and anon-transitory computer readable medium.

(ii) Related Art

There is known a service providing system including a self-movingapparatus that provides a service by moving within a predeterminedspace.

SUMMARY

According to an aspect of the invention, there is provided a serviceproviding system including at least one self-moving apparatus and aserver apparatus. The self-moving apparatus moves within a predeterminedarea, provides a service by moving to a destination in response to andin accordance with an instruction for providing the service, andincludes a detection unit and a reporting unit. The detection unitdetects a state of the self-moving apparatus. The reporting unit sends,to the server apparatus, a report about the state of the self-movingapparatus detected by the detection unit. The server apparatus instructsthe self-moving apparatus to provide the service and includes areception unit, a report-reception unit, and a first instruction unit.The reception unit receives a user instruction for causing theself-moving apparatus to move to a predetermined destination if theself-moving apparatus is in a predetermined state or if the self-movingapparatus is changed to be in the predetermined state. Thereport-reception unit receives the report about the state of theself-moving apparatus from the self-moving apparatus. The firstinstruction unit instructs the self-moving apparatus to move to thepredetermined destination upon the reception unit receiving the userinstruction if the report received by the report-reception unit is areport indicating that the self-moving apparatus is in the predeterminedstate or that the self-moving apparatus is changed to be in thepredetermined state.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments of the present invention will be described indetail based on the following figures, wherein:

FIG. 1 illustrates the entire configuration of a print system accordingto a first exemplary embodiment of the present invention;

FIG. 2 schematically illustrates the layout of an office;

FIG. 3 illustrates position information regarding each maintenance area;

FIG. 4 illustrates detection items indicating the state of eachself-moving printer detected by the corresponding self-moving printer;

FIG. 5 illustrates a screen for specifying a maintenance date and time;

FIG. 6 illustrates a sub-menu screen displayed if “specify year, date,and time” has been selected on the menu screen illustrated in FIG. 5;

FIG. 7 illustrates a sub-menu screen displayed if “periodically” hasbeen selected on the menu screen illustrated in FIG. 5;

FIG. 8 illustrates a sub-menu screen displayed if “weekly” has beenselected on the sub-menu screen illustrated in FIG. 7;

FIG. 9 illustrates a sub-menu screen displayed if “monthly” has beenselected on the sub-menu screen illustrated in FIG. 7;

FIG. 10 illustrates a menu screen for specifying a self-moving printeras a maintenance target;

FIG. 11 illustrates a sub-menu screen displayed if “specifyindividually” has been selected on the menu screen illustrated in FIG.10;

FIG. 12 illustrates a sub-menu screen displayed if “specify byconditions” has been selected on the menu screen illustrated in FIG. 10;

FIG. 13 illustrates a menu screen for selecting a maintenance area;

FIG. 14 illustrates a menu screen for selecting priority;

FIG. 15 illustrates an example of a maintenance task;

FIG. 16 is a flowchart illustrating a maintenance task reception processperformed by a server upon receiving a maintenance task;

FIG. 17 is a flowchart illustrating a report reception process;

FIG. 18 is a flowchart illustrating a maintenance process;

FIG. 19 is a flowchart illustrating a maintenance completion processperformed by the server at the time of completion of maintenance;

FIG. 20 illustrates a basic operation pattern of each self-movingprinter moving to a maintenance area;

FIG. 21 illustrates an operation pattern of each self-moving printer inthe case where another self-moving printer has already reached themaintenance area;

FIG. 22 illustrates an operation pattern of each self-moving printer inthe case where the maintenance area is filled with self-moving printersthat have already reached the maintenance area;

FIG. 23 is a flowchart illustrating a moving and lining-up processperformed by each self-moving printer to undergo maintenance;

FIG. 24 is a flowchart illustrating a maintenance task reception processperformed by the server upon receiving a maintenance task in a secondexemplary embodiment;

FIG. 25 is a flowchart illustrating a maintenance task reception processperformed by each self-moving printer that has received a broadcastmaintenance task;

FIG. 26 is a flowchart illustrating a maintenance process in the secondexemplary embodiment; and

FIG. 27 is a flowchart illustrating a maintenance completion processperformed at the time of completion of maintenance in the secondexemplary embodiment.

DETAILED DESCRIPTION

Now, the exemplary embodiments of the present invention will bedescribed.

FIG. 1 illustrates the entire configuration of a print system 100according to a first exemplary embodiment of the present invention.

The print system 100 includes three self-moving printers 10. Each of theself-moving printers 10 is, for example, a printer employing a so-calledelectrophotographic system. Note that each of the self-moving printers10 may be a printer employing a method other than theelectrophotographic system, such as an ink-jet method.

The self-moving printers 10 moves within an office 60, which will bedescribed later with reference to FIG. 2. Note that each of theself-moving printers 10 includes a camera 11 in order to monitor thearea in front of the self-moving printer 10 with the camera 11 and movesby avoiding obstacles that are present ahead of the self-moving printer10. Upon receiving a printing instruction from a user, the self-movingprinters 10 move to the user to execute printing.

The print system 100 further includes plural client personal computers(hereinafter abbreviated to PCs) 20. Each of the client PCs 20 is a PCoperated by a corresponding user and issues a printing instruction.

The print system 100 further includes a server 30. Upon receiving aprinting instruction transmitted from the client PCs 20, the server 30assigns the instruction to any of the three self-moving printers 10 andcauses the assigned self-moving printers 10 to execute printing inaccordance with the instruction. The printing instruction is assigned onthe basis of a predetermined assignment algorithm, and for example, aprinting instruction transmitted from one of the client PCs 20 may beassigned to a self-moving printer 10 that is the closest to the desk ofa user who is using the client PC 20 or may be assigned to a self-movingprinter 10 that is in a waiting state and that is not currentlyexecuting printing. Further description of the method for assigning theprinting instruction will be omitted from this exemplary embodiment.

The print system 100 further includes a manager PC 40. The manager PC 40is a PC operated by a manager who manages the print system 100. Byoperating the manager PC 40, the manager is capable of checking theoverall situation of the print system 100 including the currentpositions of the self-moving printers 10 and how many printing jobs arequeued in each of the self-moving printers 10, and the like. By usingthe manager PC 40, the manager is also capable of checking the internalstate of each of the self-moving printers 10, such as the remainingamount of consumables including the toner and paper, the operationhistory, and the like. The manager PC 40, as necessary, issuesinstructions for the self-moving printers 10, for which maintenance isrequired, to move to or assemble at a maintenance area (see FIG. 2).

Note that the above-described self-moving printers 10, the client PCs20, the server 30, and the manager PC 40 are capable of communicatingwith one another through a wireless local area network (LAN) 50.

FIG. 2 schematically illustrates the layout of the office 60.

In the office 60, plural tables 61 and many chairs 62 are arranged. Eachof the chairs 62 is given a unique seat number, and the seat numbers areregistered in the server 30.

FIG. 2 also illustrates three self-moving printers 10. The positions ofthe three self-moving printers 10 in FIG. 2 are waiting positions of theself-moving printers 10 in the office 60. Charging equipment, which isnot illustrated, is provided at each of the waiting positions, and theself-moving printers 10 move to the waiting positions to be charged bythe charging equipment. By using energy obtained by the charging, theself-moving printers 10 move and execute printing.

FIG. 2 does not illustrate the server 30 or the manager PC 40, which areillustrated in FIG. 1. The server 30 and the manager PC 40 are installedat a corner of the office 60 or a room other than the office 60, forexample.

In the office 60, two maintenance areas 63, which are a maintenance area1 and a maintenance area 2, are provided. The maintenance area 1 is anarea in which a maintenance staff performs maintenance such as partreplacement. The maintenance area 2 is an area in which even a personwho is not a maintenance staff performs maintenance such as replacementof a toner cartridge, refill of sheets of paper for printing, and thelike. A consumables storage space is provided in the maintenance area 2,where toner cartridges for replacement, sheets of paper for replacement,and the like are stocked.

Information regarding the layout and the like of the office 60 isregistered in advance in the server 30 (see FIG. 1). Informationregarding users who are authorized to use the office 60 is alsoregistered in advance in the server 30.

Users who use the office 60 enter through an entrance 64 of the office60 and take available seats. Then, the users prepare their own PCs(client PCs 20 illustrated in FIG. 1) on the tables 61 and perform alog-in process. In the log-in process, each user inputs a user ID and apassword as the certification of the user who is authorized to use theoffice 60 and further inputs the seat number of the user. The server 30performs user authentication on the basis of the input information andobtains information on the seat number of the user. Upon the userauthentication, the user is allowed to use the self-moving printers 10.The user notifies the server 30 of exit by performing a log-out processin order to leave the office 60.

A feature of this exemplary embodiment is not a typical printing serviceprovided by the self-moving printers 10, but is a process regardingmaintenance of the self-moving printers 10. Accordingly, the followingdescription focuses on a maintenance process of the self-moving printers10.

FIG. 3 illustrates position information regarding each of themaintenance areas 1 and 2. The position information illustrated in FIG.3 is registered in advance in the server 30.

A waiting position and an end position are defined in each of themaintenance areas 1 and 2.

The waiting position is a position in the maintenance area to which aself-moving printer 10 moves and at which the self-moving printer 10waits to undergo maintenance.

If plural self-moving printers 10 move to the same maintenance area, theplural self-moving printers 10 line up, with the self-moving printer 10at the waiting position at the front of the line, to wait for theirmaintenance turn. Note that the end position is the position at the backend of the line in which the self-moving printers 10 are allowed toassemble to wait for their maintenance turn. The lining up of the pluralself-moving printers 10 in the maintenance area will be specificallydescribed later.

FIG. 4 illustrates detection items indicating the state of eachself-moving printer 10 detected in the corresponding self-moving printer10.

Sensors, counters, and the like, which are not illustrated, are providedfor each self-moving printer 10, and items that are necessary todetermine the necessity of maintenance, such as a toner remainingamount, a paper remaining amount, the total printed sheets of paper, thetotal movement time, and the like illustrated in FIG. 4, are detected inthe self-moving printer 10.

Immediately before or before performing maintenance of a self-movingprinter 10, maintenance instruction information is input to the managerPC 40 illustrated in FIG. 1. A setting in which the maintenanceinstruction information is input will be described below.

FIGS. 5 though 14 each illustrate a menu screen displayed on the managerPC 40 in the setting in which the maintenance instruction information isinput. The menu screens are separately illustrated in different drawingsaccording to the items for the convenience of the drawings. Note thatfewer menu screens may be designed so as to receive the same orsubstantially the same information.

FIG. 5 illustrates a screen for specifying a maintenance date and time.

Here, by using the pull-down menu, one of “instantly”, “specify year,date, and time”, “periodically” and “no specification” is selected.

The term “instantly” means that maintenance is performed immediatelyafter completion of input for this specification.

The term “specify year, date, and time” means that maintenance isperformed at the specified year, date, and time.

The term “periodically” means that maintenance is performedperiodically.

The term “no specification” means that maintenance is performed whenconditions other than date, time, and the like are satisfied withoutspecifying the date, time, and the like. For example, a conditioncorresponds to an instruction (maintenance task) for instructing aself-moving printer 10 to move to the maintenance area 2 in the case ofrunning out of paper.

FIG. 6 illustrates a sub-menu screen displayed if “specify year, date,and time” has been selected on the menu screen illustrated in FIG. 5.

Here, by using each of the pull-down menus, the year, month, day, hour,and minute are specified.

FIG. 7 illustrates a sub-menu screen displayed if “periodically” hasbeen selected on the menu screen illustrated in FIG. 5.

Here, by using the pull-down menu, “weekly” or “monthly” is selected.

FIG. 8 illustrates a sub-menu screen displayed if “weekly” has beenselected on the sub-menu screen illustrated in FIG. 7.

Here, by using each of the pull-down menus, one of days among Monday toSunday and the hour and minute are specified.

FIG. 9 illustrates a sub-menu screen displayed if “monthly” has beenselected on the sub-menu screen illustrated in FIG. 7.

Here, by using each of the pull-down menus, the day, hour, and minutefor maintenance in each month are specified.

FIG. 10 illustrates a menu screen for specifying a self-moving printer10 as a maintenance target.

Here, by using the pull-down menu, one of “all”, “specify individually”,and “specify by conditions” is selected.

The term “all” means that all of the self-moving printers 10 included inthe print system 100 are maintenance targets. Accordingly, for example,if “instantly” has been selected on the menu screen illustrated in FIG.5 and then “all” has been selected on the menu screen illustrated inFIG. 10, all of the self-moving printers 10 included in the print system100 are made to assemble immediately.

The term “specify individually” on the menu screen in FIG. 10 means thata self-moving printer 10 that will undergo maintenance is designated.

The term “specify by conditions” means that conditions for performingmaintenance are specified.

FIG. 11 illustrates a sub-menu screen displayed if “specifyindividually” has been selected on the menu screen illustrated in FIG.10.

In the pull-down menu here, the identifications (IDs) of all of theself-moving printers 10 included in the print system 100, the IDs havingbeen registered in advance, are displayed. By selecting one of the IDs,the self-moving printer 10 as the maintenance target is designated.

FIG. 12 illustrates a sub-menu screen displayed if “specify byconditions” has been selected on the menu screen illustrated in FIG. 10.

Here, a checkmark is added to a box of an item to be selected, and byusing the pull-down menu, details of the selected item are selected.Here, for example, “toner remaining amount” and “10% or less” areselected. It is possible to add checkmarks to plural item boxes. Thatis, it is possible to select “toner remaining amount” and “10% or less”and also “sheet remaining amount” and “5% or less”, for example.

In this example, a self-moving printer 10 that satisfies the thusspecified conditions is the maintenance target. If, for example, themaintenance date, time, and the like have been specified, at the timingthe date, time, and the like have been reached, it is determined whetherthe specified conditions are satisfied, and a self-moving printer 10that satisfies the conditions at this time is the maintenance target.

FIG. 13 illustrates a menu screen for selecting a maintenance area.

Here, by using the pull-down menu, the maintenance area 1 or themaintenance area 2 is selected. The maintenance area specified herecorresponds to the destination to which the self-moving printer 10 asthe maintenance target moves when the maintenance timing has beenreached.

However, the menu screen illustrated in FIG. 13 is skipped if themaintenance area is uniquely determined in accordance with the specifiedcontent, for example, if maintenance due to a small toner remainingamount is performed in the maintenance area 2.

FIG. 14 illustrates a menu screen for selecting priority.

In this example, radio buttons are used to select “normal” or “highpriority”.

For a printing task, which is a normal task of each self-moving printer10, “normal” or “high priority” is selected. The term “normal” for aprinting task means that the printing task waits for its turn ifprinting jobs are queued. In this case, printing corresponding to theprinting task is executed after completion of printing corresponding tothe prior printing instructions. On the other hand, the term “highpriority” for a printing task means that the printing task assembles atthe front of jobs waiting for their turn. In this case, printingcorresponding to the printing task is executed immediately after thecompletion of printing that is currently executed. Note that if thereare plural jobs specified as “high priority”, even if “high priority” isselected for a printing task, the printing task waits for its turn amongthe jobs selected as “high priority”. Accordingly, “urgent”, which meansa higher priority than “high priority”, may be included as anotherchoice. An instruction of “urgent” precedes the jobs of “high priority”.

In this exemplary embodiment, the priority is also selected from“normal” and “high priority” for maintenance. Although “urgent” may alsobe selected for maintenance, this exemplary embodiment does not describe“urgent”.

In the case where “normal” is specified for maintenance, if printingjobs are queued at the time the maintenance timing for a self-movingprinter 10 has been reached, after processes such as printingcorresponding to the jobs are completed, the self-moving printer 10moves to the maintenance area. On the other hand, in the case where“high priority” is specified for maintenance, even if print jobs arequeued at the time the maintenance timing for a self-moving printer 10has been reached, the self-moving printer 10 moves to the maintenancearea because maintenance precedes the other jobs. However, if there arejobs specified as “high priority”, the jobs wait for their turn.

FIG. 15 illustrates an example of a maintenance task.

If specifications regarding maintenance have been input through themanager PC 40 in the manner described with reference to FIGS. 5 through14, a maintenance task as an aggregate of the specifications isgenerated in the manager PC 40, and the generated maintenance task istransmitted to the server 30.

FIG. 15 illustrates an example of the maintenance task generated in theabove manner.

This maintenance task includes items of “task ID”, “date and time”,“destination”, “priority”, and “target machine”.

The item “task ID” indicates the ID for designating the maintenance taskand is 0101 in this example.

The item “date and time” indicates the date and time at whichmaintenance is to be performed. In this example, 2016 Dec. 16, 9:00 isspecified.

The item “destination” indicates the location to which the self-movingprinter 10 moves for maintenance at this date and time. In this example,the maintenance area 1 is specified.

The item “priority” indicates the priority of the maintenance to beperformed at this time. In this example, “normal” is specified as thepriority.

The item “target machine” indicates a condition for designating theself-moving printer 10 as a maintenance target. In this example, aself-moving printer 10 with a toner remaining amount of 10% or less isspecified as the maintenance target.

FIG. 16 is a flowchart illustrating a maintenance task reception processperformed by the server 30 upon receiving a maintenance task.

If a manager generates the maintenance task in the above manner by usingthe manager PC 40, the generated maintenance task is transmitted to theserver 30. Upon receiving the maintenance task, the server 30 performsthe maintenance task reception process illustrated in FIG. 16.

In this example, first, the received maintenance task is stored in theserver 30 (step S301). Then, a maintenance process illustrated in FIG.18, which will be described later, is initiated (step S302).

FIG. 17 is a flowchart illustrating a report reception process.

Various sensors and counters are provided for each of the self-movingprinters 10, and in the self-moving printer 10, information indicatingthe state of the self-moving printer 10 to be used for determination ofthe maintenance timing is collected, and the collected information istransmitted to the server 30 as a report (see FIG. 4). The reportreception process illustrated in FIG. 17 is performed every time areport about the state of each self-moving printer 10 is received fromthe corresponding self-moving printer 10.

Here, the information that indicates the state of the self-movingprinter 10 and that has been transmitted as a report is stored in theserver 30 (step S311).

FIG. 18 is a flowchart illustrating a maintenance process. Themaintenance process illustrated in FIG. 18 is also performed by theserver 30.

As an example, this maintenance process is initiated after themaintenance task reception process illustrated in FIG. 16 upon theserver 30 receiving the maintenance task.

In addition, every time a certain task, such as a printing task (singleprinting process) is completed, each of the self-moving printers 10reports the server 30 of completion of the task. As another example, themaintenance process illustrated in FIG. 18 may be initiated upon theserver 30 receiving the report about the completion of the task fromeach of the self-moving printers 10.

Furthermore, the maintenance process illustrated in FIG. 18 is performedrepeatedly and periodically, e.g., every minute.

Upon initiating the maintenance process illustrated in FIG. 18, first,it is determined whether there is a maintenance task whose executiontiming has been reached (step S321). For this determination, theinformation on the maintenance task stored in step S301 in FIG. 6 iscompared with the information indicating the state of each self-movingprinter 10 stored in step S311 in FIG. 17. As described above, themaintenance process is initiated not only upon receiving the maintenancetask, but also upon receiving a report about completion of a certaintask from each of the self-moving printers 10, or periodically, e.g.,every minute. Accordingly, at the timing the maintenance processillustrated in FIG. 18 is initiated, a maintenance task might not bepresent in some cases. In addition, even if the maintenance process isinitiated upon receiving the maintenance task, the date and time (seeFIG. 5) at which the maintenance task, which has led the initiation ofthe maintenance process, is to be executed, might not be “instantly”,and the maintenance task might remain to be stored in the server 30(step S301 in FIG. 16) until the maintenance timing is reached.Furthermore, there might be a maintenance task that is to be executedwhen conditions other than the time, such as a toner remaining amount of10% or less, are satisfied. Accordingly, in the maintenance processillustrated in FIG. 18, first, it is determined whether there is amaintenance task whose execution timing has been reached (step S321).The determination is sequentially performed on the self-moving printers10 one by one. With respect to a certain self-moving printer 10, if itis determined in step S321 that there is no maintenance task whoseexecution timing has been reached, the process proceeds to step S323. Ifthere is a self-moving printer 10 that has not been subject to thedetermination, the process returns to step S321, and with respect to theself-moving printer 10 that has not been subject to the determination,it is determined whether there is a maintenance task whose executiontiming has been reached. If it is determined in step S323 that theprocesses for all of the self-moving printers 10 have been completed,this maintenance process is completed.

With respect to a certain self-moving printer 10, if it is determined instep S321 that there is a maintenance task whose execution timing hasbeen reached, the self-moving printer 10 is instructed to undergomaintenance based on the maintenance task (step S322). Upon receivingthe instruction, the self-moving printer 10 executes tasks that are tobe executed in advance in accordance with the order of priority, andwhen the tasks are completed, the self-moving printer 10 starts movingto the specified maintenance area.

FIG. 19 is a flowchart illustrating a maintenance completion processperformed by the server at the time of completion of maintenance.

Each of the self-moving printers 10 is provided with an operationelement (not illustrated), such as a push button, which is operated atthe time of completion of maintenance. Upon completing maintenance of acertain self-moving printer 10, a maintenance operator who has performedthe maintenance at this time operates the operation element, and theserver 30 is notified of the completion of the maintenance. Then, theserver 30 performs the maintenance completion process illustrated inFIG. 19.

In the maintenance completion process illustrated in FIG. 19, it isdetermined whether the maintenance task corresponding to an instructionof the maintenance performed at this time is a maintenance taskcorresponding to an instruction of once-only maintenance (step S331). Ifthe maintenance task at this time is a maintenance task that might beexecuted again at a future timing, such as a maintenance task whoseexecution date and time (see FIG. 5) is “periodically”, the maintenancecompletion process ends without deleting the maintenance task at thistime from memory.

On the other hand, if the maintenance task at this time is a maintenancetask corresponding to an instruction of once-only maintenance, then, itis determined whether maintenance of all of the self-moving printers 10,which are the targets of the maintenance task at this time, has beencompleted (step S332). This is because the maintenance task at this timemight include maintenance instructions for plural self-moving printers10 in some cases. If there is a self-moving printer 10 for which themaintenance corresponding to the maintenance task at this time has notbeen completed, the maintenance completion process ends without deletingthe maintenance task at this time from memory.

On the other hand, if the maintenance task at this time is a maintenancetask corresponding to an instruction of once-only maintenance and themaintenance of all of the self-moving printers 10, which are themaintenance targets of the maintenance task, has been completed, themaintenance task stored in the server 30 is deleted (step S333).

Next, the operation of the self-moving printer 10 after starting movingto a maintenance area to undergo the maintenance will be described.

In some cases, plural self-moving printers 10 might move toward the samemaintenance area. Accordingly, if plural self-moving printers 10 movetoward the same maintenance area, it is necessary to adjust theoperations of the self-moving printers 10.

FIG. 20 illustrates a basic operation pattern of each self-movingprinter 10 moving to a maintenance area.

If a self-moving printer 10 moves to a maintenance area where no otherself-moving printers 10 are present and the self-moving printer 10 isthe first self-moving printer 10 to reach the maintenance area, theself-moving printer 10 operates as illustrated in FIG. 20. That is, theself-moving printer 10 moving to the maintenance area first moves to theend position (see FIG. 3) in the maintenance area, changes itsorientation from the end position to face the waiting position, slowlymoves forward to the waiting position, and stops at the waitingposition.

FIG. 21 illustrates an operation pattern of each self-moving printer 10in the case where another self-moving printer 10 has already reached themaintenance area.

As illustrated in FIG. 21, if another self-moving printer 10 has linedup before the self-moving printer 10, the self-moving printer 10 firstmoves to the end position in the maintenance area and changes itsorientation to face the waiting position, and then slowly moves forwardto the waiting position to line up, at a fixed distance, behind theself-moving printer 10 that has lined up at the backend. The camera 11is provided for each self-moving printer 10, and the self-moving printer10 stores in advance an image of the back of the self-moving printer 10obtained by capturing the image with the camera 11. When the self-movingprinter 10 lines up behind the self-moving printer 10 that has lined upat the backend, the self-moving printer 10 obtains the distance to thebackend self-moving printer 10 from the angle of view of the image ofthe back of the backend self-moving printer 10, the image having beencaptured with the camera 11, moves forward until the distancecorresponds to the fixed distance determined in advance, and stops.

FIG. 22 illustrates an operation pattern of each self-moving printer 10in the case where the maintenance area is filled with self-movingprinters 10 that have already reached the maintenance area. Although theprint system 100 illustrated in FIG. 1 is a system including only threeself-moving printers 10, this example will describe the system includingmore self-moving printers 10 for the convenience of description.

The end position in the maintenance area is the position at the back endof a line in which the self-moving printers 10 are allowed to line upand wait. In the case where a certain self-moving printer 10 movestoward the maintenance area, if self-moving printers 10 that havealready reached the maintenance area have lined up and the self-movingprinter 10 would be beyond the end position in the maintenance area iflined up behind the line, the self-moving printer 10 does not line upbehind the line, but starts a timer that measures the time at which theend position is considered vacant and moves around or returns to thewaiting position. Alternatively, if there is a task in a waiting state,the self-moving printer 10 performs a process of the task. By waitingfor time-up of the timer, that is, by waiting until the end position isconsidered vacant, the self-moving printer 10 moves to the maintenancearea again. This is because the self-moving printer 10 lined up beyondthe end position would interfere with the movement of the otherself-moving printers 10, a user, and the like.

FIG. 23 is a flowchart illustrating a moving and lining-up processperformed by each self-moving printer 10 to undergo maintenance.

This moving and lining-up process is a process for the self-movingprinter 10 to achieve the operation patterns described above withreference to FIGS. 20 to 23. This moving and lining-up process isinitiated at the timing at which the maintenance timing has been reachedand when there are no more tasks to be executed before the maintenanceor at the time the timer started in step S102 in the flowchartillustrated in FIG. 23 is has reached time-up. However, if theself-moving printer 10 is executing another task at the time the timerhas reached time-up, the process is initiated after waiting for the taskto be completed.

When approaching a target maintenance area, on the basis of a videotaken with the camera 11 provided for the self-moving printer 10, theself-moving printer 10 determines whether the end position in themaintenance area is vacant (step S101). If it is determined that the endposition is not vacant, the self-moving printer 10 starts a timer (stepS102). This timer measures the time when the end position is consideredvacant. After starting the timer, the self-moving printer 10 performs aprocess of another task that the self-moving printer 10 is to execute(step S103). If there are no other tasks that the self-moving printer 10is to execute, the self-moving printer 10 moves around near themaintenance area. Alternatively, if the remaining power of a built-inbattery is low, the self-moving printer 10 returns to the waitingposition to be charged. Then, the moving and lining-up process at thistime illustrated in FIG. 23 ends. Then, when the timer started in stepS102 has reached time-up, the moving and lining-up process is performedagain.

If it is determined in step S101 that the end position in themaintenance area is vacant, the self-moving printer 10 moves to the endposition in the maintenance area (step S104), changes its orientation toface the waiting position (step S105), and starts slowly moving forward(step S106). If there are no other self-moving printers 10 ahead (stepS107), the self-moving printer 10 moves to the waiting position (stepS108) and stops at the waiting position (step S109). On the other hand,if there is another self-moving printer 10 ahead, the self-movingprinter approaches the other self-moving printer 10 ahead at a fixeddistance (step S107) and stops at the position (step S110). If theself-moving printer 10 ahead moves forward and the distance to theself-moving printer 10 ahead is increased (step S111), the self-movingprinter 10 also starts moving forward (step S112). While lined up in theabove manner, the self-moving printer 10 moves forward and finallyreaches the waiting position. At the waiting position, the self-movingprinter 10 undergoes maintenance.

Next, a second exemplary embodiment will be described. Only differentparts from the above-described first exemplary embodiment will bedescribed below.

In the first exemplary embodiment described above, upon the server 30receiving a maintenance task from the manager PC 40, the maintenancetask is stored in the server 30 (step S301 in FIG. 16), and the server30 receives a report about the state of each self-moving printer 10 fromthe corresponding self-moving printer 10 (FIG. 17) and determineswhether there is a maintenance task whose execution timing has beenreached. In contrast, in the second exemplary embodiment describedbelow, upon the server 30 receiving a maintenance task from the managerPC 40, the received maintenance task is, in principle, broadcast to allof the self-moving printers 10, even though the maintenance task isstored in the server 30 as a copy for the server 30. Then, each of theself-moving printers 10 determines whether the transmitted maintenancetask is relevant to the self-moving printer 10. If the maintenance taskis relevant to the self-moving printer 10, the self-moving printer 10stores the maintenance task inside. Then, the self-moving printer 10determines by itself whether the maintenance timing has been reached,and if the timing has been reached, the self-moving printer 10 operatesto undergo maintenance.

FIG. 24 is a flowchart illustrating a maintenance task reception processperformed by the server upon receiving a maintenance task in the secondexemplary embodiment. FIG. 24 corresponds to FIG. 16 described above inthe first embodiment.

If a manager generates a maintenance task in the above manner by usingthe manager PC 40, the generated maintenance task is transmitted to theserver 30. Upon receiving the maintenance task, the server 30 performs amaintenance task reception process illustrated in FIG. 24.

First, the received maintenance task is stored in the server 30 (stepS341). Note that the maintenance task stored in the server 30 is notsubstantially used for maintenance and is a copy to be stored in theserver 30 and used for progress management in the server 30.

Then, the maintenance task received by the server 30 is broadcast to allof the self-moving printers 10 (step S342).

FIG. 25 is a flowchart illustrating a maintenance task reception processperformed by each self-moving printer 10 that has received the broadcastmaintenance task.

Upon receiving the maintenance task broadcast from the server 30, eachof the self-moving printers 10 determines whether the maintenance taskis relevant to the self-moving printer 10 (step S111), and if themaintenance task is relevant to the self-moving printer 10, themaintenance task is stored (step S112). If the received maintenance taskis irrelevant to the self-moving printer 10, the maintenance task isignored.

FIG. 26 is a flowchart illustrating a maintenance process in the secondexemplary embodiment. The maintenance process illustrated in FIG. 26corresponds to the maintenance process illustrated in FIG. 18 in theabove-described first exemplary embodiment. Note that the maintenanceprocess illustrated in FIG. 26 is performed by each self-moving printer10, whereas the maintenance process illustrated in FIG. 18 is performedby the server 30.

First, the self-moving printer 10 determines whether there is amaintenance task that is relevant to the self-moving printer 10 andwhose execution timing has been reached (step S121). In this example,the determination is performed by comparing the maintenance task storedin step S112 in FIG. 25 with information regarding the state of theself-moving printer 10 collected by the sensors, counters, and the likeprovided for the self-moving printer 10. If it is determined that thereis a maintenance task whose execution timing has been reached, theself-moving printer 10 executes the maintenance task in the order inaccordance with the priority of the maintenance and the priority ofother tasks that the self-moving printer 10 currently have (step S122).

FIG. 27 is a flowchart illustrating a maintenance completion processperformed at the time of completion of maintenance in the secondexemplary embodiment. FIG. 27 corresponds to FIG. 19 in theabove-described first exemplary embodiment.

Each of the self-moving printers 10 is provided with an operationelement (not illustrated), such as a push button, which is operated atthe time of completion of maintenance. Upon completing maintenance of acertain self-moving printer 10, a maintenance operator who has performedthe maintenance at this time operates the operation element, and theself-moving printer 10 is notified of the completion of the maintenance.Then, the self-moving printer 10 performs the maintenance completionprocess illustrated in FIG. 27.

First, a report about the completion of the maintenance is sent to theserver 30 (step S131). This report is for progress management in theserver 30.

Then, it is determined whether the maintenance task for the maintenancethat has been completed at this time is a maintenance task correspondingto an instruction of once-only maintenance (step S132). If themaintenance task is the maintenance task corresponding to an instructionof once-only maintenance, the maintenance task is deleted (step S133).

The determination as to whether the maintenance timing has been reachedmay be performed by the server 30 as in the first exemplary embodimentor may be performed by each self-moving printer 10 as in the secondexemplary embodiment.

Note that a print system including a self-moving printer that moves to adestination and that performs printing at the destination has beendescribed here as an example of the service providing system accordingto an exemplary embodiment of the present invention, the presentinvention is not limited to the print system. For example, the presentinvention is applicable to any system including a self-moving apparatusand providing a service, such as a system including, as the self-movingapparatus, a delivery apparatus that delivers documents or goods or asystem including a nursing-care robot as the self-moving apparatus.

The foregoing description of the exemplary embodiments of the presentinvention has been provided for the purposes of illustration anddescription. It is not intended to be exhaustive or to limit theinvention to the precise forms disclosed. Obviously, many modificationsand variations will be apparent to practitioners skilled in the art. Theembodiments were chosen and described in order to best explain theprinciples of the invention and its practical applications, therebyenabling others skilled in the art to understand the invention forvarious embodiments and with the various modifications as are suited tothe particular use contemplated. It is intended that the scope of theinvention be defined by the following claims and their equivalents.

What is claimed is:
 1. A self-moving apparatus that moves and provides aservice by moving to a destination in response to and in accordance withan instruction for providing the service, the self-moving apparatuscomprising: a reception unit that receives a user instruction forcausing the self-moving apparatus to move to a predetermined destinationif the self-moving apparatus is in a predetermined state relating tomaintenance or printing or if the self-moving apparatus is changed to bein the predetermined state; a detection unit that detects a state of theself-moving apparatus; and a moving unit that moves to the predetermineddestination if the self-moving apparatus is in the predetermined stateor if the self-moving apparatus is changed to be in the predeterminedstate on the basis of a detection result obtained by the detection unit.2. The self-moving apparatus according to claim 1, wherein the detectionunit detects a plurality of types of states of the self-movingapparatus, and wherein, if the detection result obtained by thedetection unit indicates that the state of the self-moving apparatus isone of a plurality of types of predetermined states or is changed to beone of the plurality of types of predetermined states, the self-movingapparatus moves to a destination in accordance with the state among aplurality of predetermined destinations.
 3. The self-moving apparatusaccording to claim 1, wherein the self-moving apparatus comprises aplurality of self-moving apparatuses, and wherein, if each of theself-moving apparatuses is in the predetermined state or if each of theself-moving apparatuses is changed to be in the predetermined state, aninstruction unit broadcasts, to the plurality of self-movingapparatuses, an instruction for moving to the predetermined destination.4. The self-moving apparatus according to claim 1, wherein self-movingapparatus comprises a plurality of self-moving apparatuses, and wherein,if one of the plurality of self-moving apparatuses moves toward thedestination and another one or more of the plurality of self-movingapparatuses are at the destination, the one of the plurality ofself-moving apparatuses lines up behind the one or more of the pluralityof self-moving apparatuses.
 5. The self-moving apparatus according toclaim 4, wherein, if the one of the plurality of self-moving apparatusesmoves toward the destination and another one or more of the plurality ofself-moving apparatuses are at the destination, when the one of theplurality of self-moving apparatuses would be outside of a predeterminedwaiting area if lined up behind the one or more of the plurality ofself-moving apparatuses that have already reached the destination, theone of the plurality of self-moving apparatuses does not immediatelyline up behind the one or more of the plurality of self-movingapparatuses and waits for a timing to line up to be within thepredetermined waiting area.